54   typedef AngleAxis<Scalar> AngleAxisx;  in quaternion()  typedef
80   q1 = AngleAxisx(a, v0.normalized());  in quaternion()
81   q2 = AngleAxisx(a, v1.normalized());  in quaternion()
84   Scalar refangle = abs(AngleAxisx(q1.inverse()*q2).angle());  in quaternion()
111   AngleAxisx aa = AngleAxisx(q1);  in quaternion()
120     VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1);  in quaternion()
163   q1 = AngleAxisx(b, v1.normalized());  in quaternion()
164   q2 = AngleAxisx(b+Scalar(EIGEN_PI), v1.normalized());  in quaternion()
167   q1 = AngleAxisx(b,  v1.normalized());  in quaternion()
168   q2 = AngleAxisx(-b, -v1.normalized());  in quaternion()
183   typedef AngleAxis<Scalar> AngleAxisx;  in mapQuaternion()  typedef
201   mq1 = AngleAxisx(a, v0.normalized());  in mapQuaternion()